@inproceedings{3a5e5c3c12fe4c40aa14c6773ab46e67,
title = "Fault tolerant crab gaits of a quadruped robot: The use of moving appendage",
abstract = "Gait study on quadruped robots with a locked joint failure is discussed in this paper. The quadruped robot has a moving appendage which, attached onto the robot body, serves as a controllable apparatus that changes the equivalent position of the center of gravity. We propose a crab gait sequence for the quaruped robot to continue its static walking despite an occurrence of a locked joint failure. Analysis on gait stability and control of the moving appendage are addressed in the framework of fault tolerant gaits. We also provide a case study to illustrate the motion of legs and the moving appendage in the proposed fault tolerant crab walking.",
keywords = "Center of gravity (cg), Crab gaits, Gait study, Locked joint failures, Moving appendage, Quadruped robots",
author = "Yang, {Jung Min} and Kwak, {Seong Woo}",
year = "2013",
doi = "10.2316/P.2013.799-070",
language = "English",
isbn = "9780889869462",
series = "Proceedings of the 3rd IASTED Asian Conference on Modelling, Identification, and Control, AsiaMIC 2013",
pages = "69--74",
booktitle = "Proceedings of the 3rd IASTED Asian Conference on Modelling, Identification, and Control, AsiaMIC 2013",
note = "3rd IASTED Asian Conference on Modelling, Identification, and Control, AsiaMIC 2013 ; Conference date: 10-04-2013 Through 12-04-2013",
}